Path planning method and device and electronic equipment

Abstract

The invention provides a path planning method and apparatus, and an electronic device, relates to the technical field of navigation, and is used for solving the technical problem of low availability and flexibility of path planning. The method comprises the following steps: acquiring a path planning task, wherein the path planning task comprises a starting point, an ending point and a predicted passing time period in a target environment; and obtaining the latest target road network data relative to the predicted passing time period according to the predicted passing time period. The target road network data is used for describing the traffic state of the road network elements in the target environment. The road network elements comprise indoor channels and outdoor channels. The traffic state of the road network elements is determined according to a management rule set for the road network related elements in the target environment. The road network related elements comprise at least one of places, exits and entrances. The management rule is used for representing the influence of the road network related elements on the traffic state of the road network elements. And determining a target path according to the starting point, the ending point and the target road network data.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a path planning method, device, and electronic device. Background Art

[0002] Navigation systems are increasingly used in semi-enclosed environments such as large shopping malls, hospital campuses, industrial parks, storage areas, airports, etc., especially in complex indoor environments.

[0003] However, at present, research on path planning of navigation systems is mostly concentrated on static road environments. Some research involving dynamic road environments only focuses on the impact of crowded people, sudden accidents and other situations on path planning, resulting in low availability and flexibility of path planning. Summary of the invention

[0004] Based on the above technical problems, the present application provides a path planning method, device, electronic device and storage medium to solve the technical problems of low availability and flexibility of path planning.

[0005] In a first aspect, the present application provides a path planning method, the method comprising: obtaining a path planning task, the path planning task comprising a starting point, an end point and an expected travel time period within a target environment; according to the expected travel time period, obtaining the latest target road network data relative to the expected travel time period; the target road network data is used to describe the traffic status of road network elements within the target environment; the road network elements include indoor passages and outdoor passages; the traffic status of the road network elements is determined according to management rules set for road network-related elements within the target environment; the road network-related elements include at least one of a place, an exit and an entrance; the management rules are used to characterize the influence of road network-related elements on the traffic status of the road network elements; and determining the target path according to the starting point, the end point and the target road network data.

[0006] For semi-closed scenarios, since the management rules are set according to the road network related elements (places, exits and entrances, etc.), and describe the impact of the road network related elements on the desired traffic state of the road network, based on this, the management rules are fully considered so that the target road network data can reflect the actual traffic state of the road network elements in real time. In this way, the factors that may affect the traffic state of the road network elements are more comprehensively considered. Based on this, according to the updated target road network data, when obtaining the latest target road network data relative to the expected traffic period, it is real-time, so the availability and flexibility of path planning are improved.

[0007] In one possible implementation, the method also includes: obtaining a set of state change events within a preset time period, the state change events in the state change event set are used to describe the effective time period of the first traffic state of at least one target road network element in the target environment; the target road network element is a road network element whose traffic state has changed, and the first traffic state is the traffic state of the target road network element after the change; the effective time period of the first traffic state falls within the preset time period; for each state change event, at the starting time of the effective time period of the first traffic state of the target road network element, the traffic state of the target road network element in the target road network data is updated to the first traffic state.

[0008] By determining the target road rules within the preset time period from the road rule set, the target road rules can accurately reflect the traffic status of the target road network elements within the preset time period and the effective time period of the traffic status. Based on this, the target road rules obtained from the road rule set determined according to the management rules can dynamically reflect the traffic status of the target road network elements, so that subsequent path planning can be more accurate, improving the accuracy, availability and flexibility of navigation.

[0009] In one possible implementation, the method also includes: for each state change event, at the starting time of the effective time period of the first traffic state of the target road network element, setting the effective time period of the first traffic state of the target road network element; when there is a blank period between the effective time periods of two adjacent traffic states of the target road network element, setting the traffic state corresponding to the blank period to the preset traffic state.

[0010] By determining the traffic status and effective time period of the road network elements according to the management rules, that is, the state change event determined according to the management rules. Therefore, it is very likely that the effective time period of different traffic status of a certain road network element cannot be covered all day. In this way, during the period without state change events, it indicates that there are no events that affect the traffic status change of the road network elements during this period. Therefore, the default setting of the first traffic status of the target road network element (set to the passable state) simplifies the complexity of updating the target road network data and improves the efficiency of updating the road network data.

[0011] In one possible implementation, obtaining a set of state change events within a preset time period includes: according to the preset time period, obtaining a target road rule corresponding to at least one target road network element from a road rule set, the target road rule is used to indicate the traffic status of the target road network element and the effective time period of the traffic status, and the effective time period of the traffic status falls within the preset time period; the road rule set is determined according to the management rules corresponding to the road network-related elements; according to the target road rule corresponding to at least one target road network element, a state change event is generated to obtain a set of state change events.

[0012] The target road rules can accurately reflect the traffic status of the target road network elements within the preset time period and the effective period of the traffic status. Based on this, the target road rules obtained from the road rule set determined according to the management rules can dynamically reflect the traffic status of the target road network elements, so that subsequent path planning can be more accurate, improving the accuracy, availability and flexibility of navigation.

[0013] In one possible implementation, generating a state change event according to a target road rule corresponding to at least one target road network element includes: taking the start time and the end time of the effective period of the traffic status in the target road rule corresponding to each target road network element as endpoints, and obtaining multiple time intervals according to each pair of adjacent endpoints; generating a state change event corresponding to each time interval, the state change event describing the traffic status of at least one target road network element within the time interval.

[0014] By determining multiple time intervals according to the effective time periods of each traffic status of the target road rules, and then generating state change events corresponding to each time interval based on the multiple time intervals, the traffic status of the target road network element described by each state change event within the time interval is clear and unambiguous, thereby improving the accuracy and rationality of the traffic status calculation of the target road network element.

[0015] In one possible implementation, generating a state change event corresponding to each time interval includes: if the same target road network element corresponds to multiple target road rules, and there is a conflict in the traffic status indicated by the multiple target road rules in the same time interval, then according to the preset priority corresponding to each of the multiple target road rules, based on the traffic status indicated by the target road rule with the highest preset priority, a state change event is generated; if the same target road network element corresponds to multiple target road rules, and there is no conflict in the traffic status indicated by the multiple target road rules in the same time interval, the traffic status indicated by the multiple target road rules in the same time interval are merged, and a state change event is generated based on the merged traffic status.

[0016] In this way, when there are target road rules corresponding to one or more target road network elements within the effective period of the same traffic state, the traffic state of the same target road network element is set to one by presetting priority and / or merging, ensuring that there is only one traffic state of the target road network element within the effective period of the traffic state, making the subsequent update of the target road network data clearer and more orderly.

[0017] In one possible implementation, the method is applied to a navigation system, which includes an event dispatching module and an event execution module. For each state change event, at the start time of the effective period of the first traffic state of the target road network element, the traffic state of the target road network element in the target road network data is updated to the first traffic state, including: sending the target state change event in the state change event set to the event execution module through the event dispatching module, the target state change event includes the state change event corresponding to the effective period of the traffic state that intersects with the preset buffer period, and the preset buffer period falls within the preset period; through the event execution module, for each target state change event, at the start time of the effective period of the traffic state, the traffic state of the target road network element in the target road network data is updated to the first traffic state.

[0018] By setting a preset buffer period, the target state change events within the monitoring period are monitored from the start time of the preset buffer period, so that the target road network data can be updated in real time according to the target state change events within the preset buffer period. In this way, the target road network data for the next period of time can be updated relatively in advance, so that when a new state change event caused by a new rule temporarily appears, the target road network data can be updated with the latest state change event, thereby improving the real-time, accuracy and flexibility of the target road network data. For example, based on the current time, the state change events within five minutes (if continuous monitoring, the end time of five minutes is monitored) are monitored and used as target state change events, so as to change the road network data.

[0019] In one possible implementation, based on the expected travel period, obtaining the latest target road network data relative to the expected travel period includes: selecting, from the target road network data, the target road network data updated at the time point closest to the target moment, the target moment being the starting moment of the expected travel period; and determining the target road network data updated at the time point closest to the target moment as the latest target road network data relative to the expected travel period.

[0020] By using the target road network data updated at the time point closest to the start time of the preset travel time period as the latest target road network data relative to the expected travel time period, real-time performance is reflected, so that the target road network data obtained during the preset travel time period is the latest. In this way, the subsequent route planned based on the latest target road network data relative to the expected travel time period is the most reasonable and accurate.

[0021] In a second aspect, the present application provides a path planning device, the device comprising: a first acquisition module, a second acquisition module and a determination module;

[0022] A first acquisition module is used to acquire a path planning task, where the path planning task includes a starting point, an end point, and an estimated travel period within a target environment;

[0023] The second acquisition module is used to acquire the latest target road network data relative to the expected traffic period according to the expected traffic period; the target road network data is used to describe the traffic status of road network elements in the target environment; the road network elements include indoor passages and outdoor passages; the traffic status of the road network elements is determined according to the management rules set for the road network related elements in the target environment; the road network related elements include at least one of the places, exits and entrances; the management rules are used to characterize the influence of the road network related elements on the traffic status of the road network elements;

[0024] The determination module is used to determine the target path according to the starting point, the end point and the target road network data.

[0025] In a third aspect, the present application provides an electronic device, the electronic device comprising a processor and a memory. The memory stores instructions executable by the processor. When the processor is configured to execute the instructions, the electronic device implements the method of the first aspect.

[0026] In a fourth aspect, the present application provides a computer program product. When the computer program product is run in an electronic device, the electronic device executes the method related to the first aspect to implement the creation method of the first aspect.

[0027] In a fifth aspect, the present application provides a readable storage medium, the readable storage medium comprising: software instructions. When the software instructions are executed in an electronic device, the electronic device implements the creation method in the first aspect.

[0028] The beneficial effects of the second to fifth aspects mentioned above can be referred to the first aspect and will not be elaborated on again. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram of a semi-enclosed environment provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of an indoor environment provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of the structure of a navigation system provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of the composition of an electronic device provided in an embodiment of the present application;

[0034] Figure 5 A schematic diagram of a flow chart of a path planning method provided in an embodiment of the present application;

[0035] Figure 6 A schematic diagram of a path planning result provided in an embodiment of the present application;

[0036] Figure 7 A flowchart of another path planning method provided in an embodiment of the present application;

[0037] Figure 8 A schematic diagram of a method for generating a state change event corresponding to each time interval provided in an embodiment of the present application;

[0038] Fig. 9 A schematic diagram of another method for generating a state change event corresponding to each time interval provided in an embodiment of the present application;

[0039] Fig.10 A schematic diagram of another method for generating a state change event corresponding to each time interval provided in an embodiment of the present application;

[0040] Fig.11 A schematic diagram of a state change event set provided in an embodiment of the present application;

[0041] Fig.12 A schematic diagram of a target state change event set provided in an embodiment of the present application;

[0042] Fig.13 A schematic diagram of target road network data corresponding to a target state change event provided in an embodiment of the present application;

[0043] Fig.14 A schematic diagram of a path planning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0046] In addition, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0047] Navigation systems are increasingly used in semi-enclosed environments such as large shopping malls, hospital campuses, industrial parks, storage areas, airports, etc., especially in complex indoor environments. Figure 1 As shown, the embodiment of the present application provides a schematic diagram of a semi-enclosed environment (such as a hospital campus). Figure 2 As shown, an embodiment of the present application provides a schematic diagram of an indoor environment (such as a large shopping mall).

[0048] At present, the navigation system only considers the static influencing factors and some dynamic factors of the channel in the semi-closed environment to perform path planning. Among them, static influencing factors include fixed obstacles on the channel, and some dynamic factors include channel congestion. The dynamic influencing factors are not considered comprehensively, resulting in low availability and flexibility of path planning.

[0049] In view of this, an embodiment of the present application provides a path planning method, which dynamically updates the road network data for semi-enclosed scenes (such as large shopping malls, hospital campuses, industrial parks, storage areas, airports, etc.) in combination with the management rules set for road network-related elements. Among them, the road network data is used to describe the traffic status of road network elements in the target environment, the road network elements represent road sections or channels, and the road network-related elements represent environmental elements that affect the traffic status of road network elements (such as at least one of the places, exits and entrances). When executing the path planning task, the latest road network data is used for path planning. In this way, the dynamic changes in the traffic status of road network elements within a preset time period can be determined, thereby dynamically updating the target road network data, and in real time, improving the availability and flexibility of path planning.

[0050] In some embodiments, the embodiments of the present application provide a path planning method, first, a path planning task is obtained, and the path planning task includes a starting point, an end point, and an expected travel time period located in a target environment. Secondly, based on the expected travel time period, the latest target road network data relative to the expected travel time period is obtained. The target road network data is used to describe the traffic status of road network elements in the target environment. Road network elements include indoor passages and outdoor passages. The traffic status of road network elements is determined according to management rules set for road network-related elements in the target environment. Road network-related elements include at least one of places, exits, and entrances. The management rule representation is used to characterize the impact of road network-related elements on the traffic status of road network elements. Finally, based on the starting point, end point, and target road network data, the target path is determined.

[0051] In the embodiment of the present application, for the semi-closed scenario, since the management rules are set according to the road network related elements (places, exits and entrances, etc.), and describe the impact of the road network related elements on the desired traffic state of the road network, based on this, the management rules are fully considered so that the target road network data can reflect the actual traffic state of the road network elements in real time. In this way, the factors that may affect the traffic state of the road network elements are more comprehensively considered. Based on this, according to the updated target road network data, when obtaining the latest target road network data relative to the expected traffic period, it has real-time performance, so the availability and flexibility of path planning are improved.

[0052] The path planning method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0053] The path planning method provided in the embodiment of the present application can be applied to a navigation system. Figure 3 FIG. 1 shows a schematic diagram of the structure of a navigation system. Figure 3 As shown, the navigation system includes:

[0054] The path planning device is used to obtain the path planning task, and is also used to obtain the latest target road network data relative to the expected travel time period according to the preset travel time period, and is also used to determine the target path according to the starting point, end point and target road network data.

[0055] The path planning task includes the starting point, the end point and the expected travel time in the target environment. The target road network data is used to describe the traffic status of the road network elements in the target environment. The road network elements include indoor passages and outdoor passages. The traffic status of the road network elements is determined according to the management rules set for the road network related elements in the target environment. The road network related elements include at least one of the places, exits and entrances. The management rules are used to characterize the influence of the road network related elements on the traffic status of the road network elements.

[0056] In some embodiments, the navigation system further includes a road network data management device for updating the road network data. Specifically, the road network data management device is used to obtain a set of state change events within a preset period, and is also used to update the traffic state of the target road network element in the target road network data to the first traffic state at the start time of the effective period of the first traffic state of the target road network element for each state change event.

[0057] The state change event in the state change event set is used to describe the effective period of the first traffic state of the target road network element in at least one target environment. The target road network element is the road network element whose traffic state has changed. The first traffic state is the traffic state of the target road network element after the change. The effective period of the first traffic state falls within the preset period.

[0058] In one implementation, the road network data management device includes an event dispatching module and an event execution module. The event dispatching module is used to send a target state change event in a state change event set to the event execution module. The event execution module is used to update the traffic state of the target road network element in the target road network data to the first traffic state at the start time of the effective period of the first traffic state for each target state change event.

[0059] The target state change event includes a state change event corresponding to an effective time period of the first traffic state intersecting with a preset buffer time period, and the preset buffer time period falls within the preset time period.

[0060] In an embodiment of the present application, the navigation system may be deployed on an electronic device.

[0061] In some embodiments, the electronic device includes a server, wherein the server may be a single server area, a server cluster, or a cloud server, which is not limited in the embodiments of the present application.

[0062] In some other embodiments, the electronic device further comprises a terminal device, wherein the terminal device comprises a display device for displaying the target path and / or the target road network data.

[0063] Exemplarily, the terminal device can be a mobile phone, a tablet computer, a cellular phone, a wearable device (such as a smart watch, a smart bracelet, etc.), a car machine (such as a car computer, etc.), a smart screen (such as a navigation display screen in a large shopping mall), etc.

[0064] It should be noted that the system architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0065] Figure 4 The following is a schematic diagram of the composition of an electronic device provided in an embodiment of the present application. Figure 4 As shown, the electronic device may include: a processor 20 , a memory 21 , a communication line 22 , a communication interface 23 , and an input / output interface 24 .

[0066] The processor 20 , the memory 21 , the communication interface 23 and the input / output interface 24 may be connected via a communication line 22 .

[0067] The processor 20 is used to execute the instructions stored in the memory 21 to implement the fault analysis method provided in the following embodiments of the present application. The processor 20 can be a CPU, a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller (MCU) / single chip microcomputer, a programmable logic device (PLD), or any combination thereof. The processor 20 can also be any other device with processing functions, such as a circuit, a device, or a software module, which is not limited in the embodiments of the present application. In one example, the processor 20 may include one or more CPUs, such as Figure 4 As an optional implementation, the server may include multiple processors, for example, in addition to processor 20, it may also include processor 25 ( Figure 4 The dashed line is used as an example.

[0068] The memory 21 is used to store instructions. For example, the instructions may be computer programs. Optionally, the memory 21 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage devices, etc., and the embodiments of the present application are not limited to this.

[0069] It should be noted that the memory 21 may exist independently of the processor 20, or may be integrated with the processor 20. The memory 21 may be located inside the server, or may be located outside the server, which is not limited in the embodiment of the present application.

[0070] The communication line 22 is used to transmit information between the components included in the server.

[0071] The communication interface 23 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 23 may be a module, a circuit, a transceiver or any device capable of achieving communication.

[0072] The input / output interface 24 is used to implement human-computer interaction between the user and the server, for example, to implement action interaction or information interaction between the user and the server.

[0073] Exemplarily, the input / output interface 24 may be a mouse, a keyboard, a display screen, or a touch display screen, etc. Action interaction or information interaction between a user and a server may be achieved through a mouse, a keyboard, a display screen, or a touch display screen, etc.

[0074] It should be noted that Figure 4 The structure shown in the figure does not constitute a limitation on the electronic device, except Figure 4 In addition to the components shown, the electronic device may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0075] The following is an introduction to the path planning method provided in the embodiments of the present application.

[0076] Figure 5 A schematic flow chart of a path planning method provided in an embodiment of the present application. The path planning method provided in an embodiment of the present application can be executed by a path planning device, and the method includes: S501-S503.

[0077] S501: The path planning device obtains a path planning task. The path planning task includes a starting point, an end point, and an estimated travel time period in a target environment.

[0078] Exemplarily, the path planning task may be a planning task for different subjects, for example, the subject may be a pedestrian, a vehicle (such as a cleaning vehicle), a robot (such as a service robot), etc. In this way, since different subjects have different requirements for paths, different paths can be planned for different subjects to meet the navigation requirements of different subjects.

[0079] For example, the path planning task instructs: the user (such as a pedestrian) to start from the east entrance of the hospital campus (starting point) and arrive at Room 635 of the inpatient building (end point) between 8:00:00 and 9:00:00 in the morning of the same day. Among them, 8:00:00 in the morning can be the current time or a preset time.

[0080] Exemplarily, the starting point may be a preset departure location. For example, the preset departure location is the location where the user plans to depart, which may be manually input by the user: the east entrance of the hospital campus. Alternatively, the starting point may also be the user's current location. For example, when the user is moving, the path planning device automatically identifies the user's current location and uses it as the starting point.

[0081] Exemplarily, the target environment is used to represent semi-enclosed environments such as large shopping malls, hospital campuses, industrial parks, storage areas, and airports. For example, a hospital campus is a regional scope, including indoor environments and outdoor environments. The indoor environment can be the internal environment of a closed structure (such as an inpatient building, an outpatient building, an underground parking lot, etc.), and the outdoor environment can be the environment in the campus other than the indoor environment (such as outdoor passages, green areas, open-air parking lots, etc.). In this way, the planning scope of the path planning task can be a path that covers the passage of outdoor and indoor environments. For example, starting from Room 302 of the outpatient building and navigating to Room 613 of the inpatient building, in addition to the path planning within the outpatient building and the inpatient building, the path between the outpatient building and the inpatient building is also planned.

[0082] Exemplarily, the estimated travel time period may be a time period starting at the departure time. For example, the preset travel time period may be an estimated movement time period starting at the departure time, or a tolerance time period starting at the departure time.

[0083] Exemplarily, the tolerance period can be set to 5 minutes to 15 minutes, and specifically can be set to 5 minutes, 10 minutes or 15 minutes. In this way, the time interval of the preset passage period is clearly defined by setting the tolerance period.

[0084] S502. The path planning device obtains the latest target road network data relative to the expected travel time period according to the expected travel time period.

[0085] The target road network data is used to describe the traffic status of road network elements in the target environment. Road network elements include indoor passages and outdoor passages. The traffic status of road network elements is determined according to the management rules set for the road network related elements in the target environment.

[0086] In some embodiments, the management rules are set for the target environment and road network related elements. The road network related elements include at least one of a place, an exit, and an entrance. They are used to characterize the impact of the road network related elements on the traffic status of the road network elements.

[0087] Exemplarily, a place includes a place location and / or a place area. For example, a place location can represent a key place in an indoor environment or an outdoor environment, such as a reception desk, a nurse station, or a sign in an outdoor environment in a hospital. For another example, a place area can represent a room or a ranged area, such as the No. 1 outpatient clinic, ward 101, an elevator hall, or a parking lot in a hospital.

[0088] Exemplarily, an exit may include an exit of a place (such as a room, a building, an elevator hall, etc.), an outdoor passage, an indoor passage (such as a staircase), etc.; an entrance may include an entrance of a place, an outdoor passage, an indoor passage, etc.

[0089] Exemplarily, the road network related elements also include obstacles. Obstacles may represent buildings, facilities, etc. that block traffic in the target environment.

[0090] In one implementation, the road network elements and road network related elements are represented by a vector data model. The vector data model is used to represent the spatial information and attribute information required by the navigation system in the target environment.

[0091] Optionally, the vector data model includes a road network layer and at least one of a venue layer (specifically a venue location layer, a venue area layer), an entrance and exit layer, and an obstacle layer.

[0092] Exemplarily, the road network data is used to represent the data corresponding to the road network layer.

[0093] Exemplarily, the road network layer is used to describe indoor passages and outdoor passages, and is composed of road network elements. Road network elements are represented as line elements in the vector data model. For example, in the vector data model, line elements are used to describe indoor passages and outdoor passages.

[0094] Exemplarily, the place location layer is used to mark key places in indoor and outdoor environments. The place location layer is composed of place location elements. The place location elements are represented as point elements in the vector data model. For example, in the vector data model, point elements are used to mark key places in indoor and outdoor environments.

[0095] Exemplarily, the venue area layer is used to describe a room or a ranged area. The venue area layer is composed of venue area elements, which are represented as surface elements in the vector data model. For example, in the vector data model, surface elements are used to describe a room or a ranged area.

[0096] Exemplarily, the entrance and exit layer is used to describe the entrance and exit points of places (such as rooms, buildings, elevator halls, etc.), outdoor passages, indoor passages (such as stairs), etc., and is composed of exit elements and entrance elements, wherein the exit elements and entrance elements are represented as point elements in the vector data model. For example, in the vector data model, point elements are used to describe the entrance and exit points of places, outdoor passages, indoor passages, etc.

[0097] Exemplarily, the obstacle layer is used to describe buildings, facilities, etc. that block traffic in the target environment, and is composed of obstacle elements. Obstacle elements are represented as surface elements in the vector data model. For example, in the vector data model, surface elements are used to describe buildings, facilities, etc. that block traffic in the target environment.

[0098] In the embodiment of the present application, the road network elements and road network related elements are reflected by the vector data model, and different types of elements are clearly represented by line elements, point elements, and surface elements according to their geometric characteristics, which not only facilitates data management, but also enables efficient spatial query and operation of element data, such as shortest path calculation, visual area analysis, etc. At the same time, since each layer has its specific function and form of expression, it can be loaded or combined independently according to actual needs, thereby improving the flexibility and efficiency of setting management rules.

[0099] In one implementation, the management rules include management rules corresponding to road network elements and management rules corresponding to road network related elements, wherein the management rules corresponding to road network related elements affect the traffic status of road network elements.

[0100] Exemplarily, the traffic status of a road network element indicates whether a passage (indoor passage, outdoor passage) is passable or impassable. That is, the traffic status includes a passable state and an impassable state. Among them, the passability of a passage may specifically include: the passable state of an indoor passage, the passable state of an outdoor passage. The impassability of a passage may specifically include: the impassable state of an indoor passage, and different passability states of an outdoor passage.

[0101] Exemplarily, the management rules corresponding to the road network related elements are used to describe the open status of the road network related elements in different time periods.

[0102] Exemplarily, the open state of the road network related elements indicates whether the road network related elements are opened or closed. The opening of the road network related elements may specifically include: the opening state of the location, the opening state of the location area, the opening state of the exit, the opening state of the entrance, etc. The closing of the road network related elements may specifically include: the closing state of the location, the closing state of the location area, the closing state of the exit, the closing state of the entrance, etc.

[0103] Exemplarily, the opening of road network related elements may also include: the opening state of the obstacle, which is used to indicate that the obstacle does not block passage after being operated (such as removed, destroyed, etc.). The closing of road network related elements may also include: the closing state of the obstacle, which is used to indicate that the obstacle blocks passage.

[0104] In the embodiment of the present application, since the management rules in the target environment will change dynamically, the open state of the road network related elements is not fixed, but changes dynamically. In this way, based on the management rules corresponding to the dynamically changing road network related elements, the traffic state of the affected road network elements can be determined, thereby more flexibly determining accurate and real-time target road network data.

[0105] In another implementation, the management rules corresponding to the road network related elements are combined with the management rules corresponding to the road network elements to jointly affect the traffic status of the road network elements.

[0106] Exemplarily, the rules corresponding to the management of road network elements are used to describe the traffic status of road network elements in different time periods. In this way, since the management rules corresponding to the road network elements themselves will also affect the traffic status of the same road network elements or different road network elements, the traffic status of the affected road network elements can be more comprehensively determined by combining the road network related elements with the management rules corresponding to the road network elements.

[0107] In one implementation, the management rules are determined based on management matters. Management matters are used to indicate matters that affect the management rules. Specifically, management matters are used to affect the traffic status of road network elements and / or the open status of road network related elements.

[0108] Optionally, management matters are determined based on actual management scenarios, where actual management scenarios are scenarios associated with road network elements and road network-related elements. For example, actual management scenarios are management systems specified for properties in the target environment, such as places or passages that are open or closed on weekdays. Another example is construction, which may affect road network elements and the traffic status of the road network. Therefore, construction is a scenario associated with road network elements and road network-related elements.

[0109] For example, management items may include at least one of workday management, holiday management, construction, and other activities. Table 1 shows a description of management items and their corresponding items, as follows:

[0110] Table 1

[0111]

[0112] In one implementation, the management rules include the traffic status of road network elements and the effective period of the traffic status, as well as the open status of road network related elements and the effective period corresponding to the open status.

[0113] Optionally, the type of the effective period specifically includes a repetitive type and a non-repetitive type.

[0114] For example, the effective period can be expressed in units of daily periods (e.g., the time interval between a certain start time and end time of the whole day). If the traffic status of the road network element exists in multiple periods of a day, multiple management rules describing the traffic status of the road network element need to be established to express it.

[0115] For example, Table 2 provides a format description of an example effective period:

[0116] Table 2

[0117]

[0118]

[0119] Exemplarily, Table 3 shows an exemplary management rule (including management rules corresponding to road network elements and management rules corresponding to road network related elements), which is as follows:

[0120] Table 3

[0121]

[0122]

[0123] In this way, within the same effective period, the traffic status of one or more elements (road network elements and / or road network-related elements) may correspond. It is understandable that when management matters are updated, the management rules will also be updated accordingly, that is, changes in management matters affect changes in management rules. For example, the content of the management matter update is: From 00:00:00 on January 3, 2024 to 00:00:00 on January 6, 2024, Exit 2 is under construction. Based on this, Exit 2 is updated accordingly in the management rules: From 00:00:00 on January 3, 2024 to 00:00:00 on January 6, 2024, Exit 2 is closed.

[0124] In some embodiments, the road network planning device obtains the latest target road network data relative to the expected travel period according to the expected travel period, including: selecting the target road network data updated at the time point closest to the target moment from the target road network data. The target road network data updated at the time point closest to the target moment is determined as the latest target road network data relative to the expected travel period.

[0125] Among them, the target time is the starting time of the expected travel period.

[0126] Exemplarily, the starting time of the preset traffic period indicates the departure time. If the path planning task indicates departure at the current time, the starting time of the preset communication period is the current time; if the path planning task indicates departure at a preset time, the starting time of the preset traffic period is departure at a preset time. For example, a pedestrian sets out at 8:00:00 in the morning of the same day (the starting time of the preset traffic period), starting from the east entrance of the hospital campus (starting point) to Room 635 of the inpatient building (end point).

[0127] Exemplarily, the target road network data updated at a time point is used to represent: the target road network data determined by the traffic status of the road network elements in the target environment at that time point. In other words, the time point is the time point corresponding to the target data.

[0128] For example, for the same day, if the time points corresponding to the updated target road network data are: ..., 07:59:00, 08:00:00, 08:01:00, ..., and the target time is 8:00:00. Then the target road network data updated at the time point closest to the target time is the updated target road network data corresponding to the time point 08:00:00. For another example, if the time points corresponding to the updated target road network data are: ..., 07:57:00, 07:59:00, 08:01:00, ..., and the target time is 8:00:00. Then the target road network data updated at the time point closest to the target time is the updated target road network data corresponding to the time point 07:59:00 or 08:01:00.

[0129] In an embodiment of the present application, by using the target road network data updated at the time point closest to the start time of the preset travel time period as the latest target road network data relative to the expected travel time period, real-time performance is reflected, so that the target road network data obtained during the preset travel time period is the latest. In this way, the subsequent path planned based on the latest target road network data relative to the expected travel time period is the most reasonable and accurate.

[0130] S503: The path planning device determines the target path according to the starting point, the end point and the target road network data.

[0131] In some embodiments, the path planning device determines the target path according to the starting point, the end point and the target road network data, including: calculating the shortest path using the Dijkstra algorithm based on the starting point, the end point and the target road network data, and determining the shortest path as the target path.

[0132] Exemplarily, the start point and the end point may be manually input by a user on the display device.

[0133] In the embodiment of the present application, by using the Dijkstra algorithm based on the latest target road network data relative to the preset traffic period, the shortest path between the starting point and the end point is calculated and determined as the target path, which can provide the user with the most direct, real-time and efficient navigation guidance. Since the target road network data has fully considered the impact of management rules on the traffic status of road network elements, it is possible to avoid inaccessible passages caused by construction, control, etc. when calculating the navigation path, thereby improving the accuracy, flexibility and availability of path planning. In the target environment, the target path enables users to reach their destination quickly and conveniently, improving the user experience.

[0134] In some other embodiments, the method further includes: the path planning device obtains a target road network data set within the expected travel period. The path planning device uses the Dijkstra algorithm to traverse each target road network data in the target road network data set based on the starting point and the end point, and calculates the shortest path corresponding to each target road network data in the target road network data set. The path planning device uses the shortest path corresponding to each target road network data in the target road network data set as an alternative path.

[0135] The target road network data set includes target road network data whose time points corresponding to the updated target road network data fall within the expected travel period.

[0136] For example, the target road network data set can be expressed as: Road(d,t)={road1,road2,…,road n}

[0137] Among them, Road(d,t) is the set of target road network data representing the time t on day d (i.e., time point), i.e., the target road network data set, t is the time within the expected traffic period, road1 is the first target road network data, road2 is the second target road network data, and road n is the nth target road network data.

[0138] like Figure 6 As shown, the embodiment of the present application provides a schematic diagram of a path planning result. Among them, time t0 is the starting time of the expected travel period, time t0+b is the end time of the preset travel period, and the path planning result represents the path planning result set constrained by the management rules corresponding to all target road network data from time t0 to the subsequent expected travel period b, and the path planning result set includes alternative paths. Among them, S, P0, and P1 form a path planning result, and S, P0, and P2 form another path planning result.

[0139] In the embodiment of the present application, by obtaining the target road network data set within the expected traffic period, and using the Dijkstra algorithm to calculate the alternative path corresponding to each target road network data in the target road network data set, the flexibility and adaptability of path planning are further enhanced. This is to take into account that the target environment may change in a short period of time due to various management matters, and it can provide users with more path options in addition to the target path. When encountering sudden road conditions (such as temporary construction, emergency control, etc.), users can quickly switch to alternative paths, thereby improving the reliability and availability of indoor navigation systems in dynamic environments.

[0140] In one implementation, it is mainly used in navigation scenarios where the starting point is the user's current location. For example, when the user is moving (such as moving along the target path), the user's current location is used as the starting location, and the starting point is updated in real time, so that the starting time of the expected travel period (i.e., the departure time) is also updated in real time (such as the time corresponding to the departure location is used as the departure time). In this way, according to the user's starting location and destination updated in real time, as well as the target road network data set within the expected travel period, an alternative path is planned to cope with temporary conditions during movement.

[0141] Figure 7 A flowchart of another path planning method provided by an embodiment of the present application. The path planning method provided by an embodiment of the present application can be executed by a road network data management device, and the method further includes: S701-S702.

[0142] S701. The road network data management device obtains a set of state change events within a preset time period.

[0143] The state change event in the state change event set is used to describe the effective period of the first traffic state of at least one target road network element in the target environment. The target road network element is the road network element whose traffic state has changed, and the first traffic state is the traffic state of the target road network element after the change. The effective period of the first traffic state falls within the preset period.

[0144] Exemplarily, the setting range of the preset time period can be 6 hours to 24 hours. Specifically, the preset time period can be 12 hours or 24 hours. Since the effective time period of the management rule is expressed in daily time periods, it is more reasonable to set the preset time period in units of days. For example, the preset time period is set to half a day (12 hours) or a day (24 hours), that is, the target road network data for the night is updated in advance during the day, the target road network data for the next day is updated in advance at night, and the target road network data for the next day is updated in advance the day before, etc. In this way, it is closer to the actual situation.

[0145] In some embodiments, the road network data management device obtains a set of state change events within a preset time period, including: obtaining a target road rule corresponding to at least one target road network element from a road rule set according to the preset time period, generating a state change event according to the target road rule corresponding to the at least one target road network element, and obtaining a set of state change events.

[0146] The target road rule is used to indicate the traffic status of the target road network element and the effective period of the traffic status. The effective period of the traffic status falls within the preset period. The road rule set is determined according to the management rules corresponding to the relevant elements of the road network.

[0147] In the embodiment of the present application, first, the target road rules within the preset time period are determined from the road rule set, and the target road rules can accurately reflect the traffic status of the target road network elements within the preset time period and the effective time period of the traffic status. Based on this, the target road rules obtained from the road rule set determined according to the management rules can dynamically reflect the traffic status of the target road network elements, so that the subsequent path planning can be more accurate, and the accuracy, availability and flexibility of navigation are improved. For example, in management matters, during weekday management, a certain area of ​​the hospital campus is opened and closed at different times; during construction, a certain channel is blocked (impassable) during the construction period, etc. These management matters will cause the management rules (the management rules corresponding to the road network elements and the management rules corresponding to the road network related elements) to be updated accordingly, which may cause the road rule set to be updated, and then may cause the target road rules to change. This dynamic update can make the current target road rules conform to the current actual scene. Therefore, path planning based on the target road rules fully considers the dynamic changes of the traffic status of the road network elements, making the planned path more reasonable and flexible.

[0148] In one implementation, the road rule set includes: a target road network element set, the traffic status of the target road network elements, and the effective period of the traffic status.

[0149] Exemplarily, the road rule set also includes a preset priority, which is used to indicate the priority of the rules in the road rule set.

[0150] Exemplarily, the road rule set can be expressed as:

[0151] rule={T r ,path_range,action_type,priority}

[0152] Among them, rule is the road rule set, T r is the effective period of the traffic status, path_range is the target road network element set, action_type is the traffic status of the target road network element, and priority is the preset priority.

[0153] In one implementation, according to the management rules corresponding to the road network related elements, determining the road rule set includes: obtaining the road network element (i.e., the target road network element) whose traffic state changes under the influence of the management rules corresponding to the road network related elements. The road rule set is composed of the target road network element, the traffic state of the target road network element, and the effective period of the traffic state. In this way, the influence of the management rules corresponding to the road network related elements on the traffic state of the road network elements can be determined, thereby determining the target road network element.

[0154] In another implementation, according to the management rules corresponding to the road network related elements, determining the road rule set includes: obtaining the road network element (i.e., the target road network element) whose traffic state changes under the influence of the management rules corresponding to the road network related elements and the management rules corresponding to the road network elements. The road rule set is composed of the target road network element, the traffic state of the target road network element, and the effective period of the traffic state. In this way, the influence of the management rules corresponding to the road network related elements and the management rules corresponding to the road network elements on the traffic state of the road network elements can be determined, thereby determining the target road network element.

[0155] Exemplarily, when determining the influence of the management rules corresponding to the road network related elements (and the management rules that the road network should correspond to) on the traffic state of the road network elements, the influence on the traffic state of the road network elements can be obtained by performing topological calculations on the elements (points, lines, and surfaces) corresponding to the road network related elements (and the road network elements) in the vector data model. Table 4 shows an example of a method for calculating the topology of road network related elements and road network elements:

[0156] Table 4

[0157]

[0158] In this way, by using the topological calculation method, it is possible to accurately determine the impact of the management rules corresponding to the relevant elements of the road network (as well as the management rules that the road network should correspond to) on the traffic status of the road network elements.

[0159] Optionally, generating a state change event according to a target road rule corresponding to at least one target road network element includes: using the start time and the end time of the effective period of the traffic state in the target road rule corresponding to each target road network element as endpoints, and obtaining multiple time intervals according to each pair of adjacent endpoints. Generating a state change event corresponding to each time interval.

[0160] Among them, the state change event describes the traffic status of at least one target road network element within a time interval.

[0161] In an embodiment of the present application, first, multiple time intervals are determined based on the effective time periods of each traffic state of the target road rules, and then based on the multiple time intervals, state change events corresponding to each time interval are generated, so that the traffic state of the target road network element described by each state change event within the time interval is clear and unambiguous, thereby improving the accuracy and rationality of the traffic state calculation of the target road network element.

[0162] For example, the start time and end time of the effective period of the traffic state in the target road rules corresponding to each target road network element are used as endpoints to cut on the time axis, and the time interval formed between each pair of adjacent endpoints is used as a time interval in multiple time intervals. In this way, cutting on the time axis according to the start time and end time of the effective period of the traffic state to determine multiple time intervals can accurately define the specific effective period of each traffic state in an orderly and intuitive manner, and avoid confusion and overlapping calculation of the time ranges between the effective periods of the traffic states.

[0163] For example, the start time and end time of the effective period of the traffic state in the target road rules corresponding to each target road network element are used as endpoints, and before obtaining multiple time intervals based on each pair of adjacent endpoints, the target road rules are sorted in positive order according to the start time of the effective period of the traffic state. In this way, based on the sorted target road rules, multiple time intervals can be obtained more efficiently and orderly.

[0164] In some embodiments, a target rule is determined for the number of rules within each target time period, so that the number of target rules within each target time period is one, which facilitates subsequent creation of a road state change event according to the target rule.

[0165] Optionally, generating a state change event corresponding to each time interval includes: if the same target road network element corresponds to multiple target road rules, and the traffic states indicated by the multiple target road rules in the same time interval conflict, then according to the preset priorities corresponding to the multiple target road rules, based on the traffic state indicated by the target road rule with the highest preset priority, generating a state change event. If the same target road network element corresponds to multiple target road rules, and the traffic states indicated by the multiple target road rules in the same time interval do not conflict, then the traffic states indicated by the multiple target road rules in the same time interval are merged, and a state change event is generated based on the merged traffic states.

[0166] Exemplarily, the preset priority is determined according to the importance and / or priority of the management items. For example, for the two items of "working day management" and "construction", in the daily management of working days, there is management rule 1 (channel 1 is passable) during the rule effective period 1, but due to the temporary need for construction, channel 1 that was originally passable on working days is affected, and management rule 2 is generated during the rule effective period 1 (causing channel 1 to be impassable), then "construction" has a higher priority than "working day management". In this way, the priority of management rule 2 is higher than that of management rule 1. Priorities are marked with natural numbers, and the smaller the value, the higher the priority.

[0167] It is understandable that at each moment in the same effective period, the traffic state of the same target road network element is unique, thus avoiding conflicting traffic states at the same moment and improving the accuracy and rationality of the target road network data.

[0168] For example, Figure 8 A method for generating state change events corresponding to each time interval is shown. In the figure, target road rule 1 and target road rule 2 intersect. Based on this, according to the start time and end time of the effective period of the traffic status of target road rule 1 and target road rule 2 (8 o'clock, 10 o'clock, etc.), effective period 1, effective period 2 and effective period 3 are divided. The state change events generated are event 1 in effective period 1, event 2 in effective period 2, and event 3 in effective period 3. Figure 8 It can be seen that within the effective period 2, there are two target road rules. Target road rule 1 indicates closing channels A and B, and target road rule 2 indicates opening channel A. There is a rule conflict. If the priority of target road rule 2 is set higher than that of target road rule 1, event 2 within the effective period 2 indicates: opening channel A and closing channel B.

[0169] For example, Fig. 9Another method of generating state change events corresponding to each time interval is shown. In the figure, target road rule 1 and target road rule 2 intersect. Based on this, according to the start time and end time of the effective period of the traffic state of target road rule 1 and target road rule 2, effective period 1 and effective period 2 are divided, and the state change events generated are event 1 in effective period 1 and event 2 in effective period 2. However, unlike Figure 8 The difference is that there is no rule conflict between target road rule 1 and target road rule 2, so the target road rules in effective period 1 are merged, and the events in effective period 1 represent: closing channels A and B, and closing channel C.

[0170] For example, Fig.10 Another method for generating state change events corresponding to each time interval is shown. In the figure, target road rule 1 and target road rule 2 are in a disjoint relationship. Based on this, according to the start time and end time of the effective period of the traffic state of target road rule 1 and target road rule 2, effective period 1 and effective period 2 are divided, and the generated state change events are event 1 in effective period 1 and event 2 in effective period 2.

[0171] In an embodiment of the present application, when there are target road rules corresponding to one or more target road network elements within the effective period of the same traffic state, the traffic state of the same target road network element is set to one by presetting priority and / or merging, ensuring that there is only one traffic state of the target road network element within the effective period of the traffic state, so that the subsequent update of the target road network data is clearer and more orderly.

[0172] Exemplarily, the state change event set can be expressed as:

[0173] event = {T e ,open_path_range,close_path_range}

[0174] Among them, event is the state change event set, T e is the effective period of the traffic status, open_path_range is the first target road network element set, the first target road network element set represents the set of target road network elements whose first traffic status is a trafficable status, close_path_range is the second target road network element set, the second target road network element set represents the set of target road network elements whose first traffic status is an inaccessible status.

[0175] Fig.11A schematic diagram of a state change event set is shown, wherein the rule pool represents a set of target road rules (referred to as rules in the figure), the state change event is referred to as an event, and d-day represents a preset time period.

[0176] In some embodiments, when a state change event within a preset time period is updated, the state change event set within the preset time period is reacquired. It can be understood that the state change events in the state change event set are based on the latest at the current moment. This is because management matters may change in a short period of time, such as temporary construction, emergency control, etc., which will cause the management rules to be updated accordingly, which will cause the road rules in the road rule set to be updated accordingly, and then cause the target road rules to be updated accordingly. Based on this, the state change event set within the preset time period will also be temporarily changed. Therefore, the state change event set within the preset time period is reacquired to obtain a set of state change events based on the latest at the current moment.

[0177] In the embodiment of the present application, it is mainly used in scenarios where the target environment may change due to various management matters in a short period of time (such as on the same day), and the latest traffic status of road network elements can be obtained, so as to update the target road network data and planned paths more flexibly and accurately.

[0178] S702. For each state change event, the road network data management device updates the traffic state of the target road network element in the target road network data to the first traffic state at the start time of the effective period of the first traffic state of the target road network element.

[0179] Exemplarily, at the start time of the effective period of the first traffic state of the target road network element, after the traffic state of the target road network element in the target road network data is updated to the first traffic state, the start time of the effective period of the first traffic state is used as the time point corresponding to the updated target road network data. For example, the start time of the effective period of the trafficable state of channel 1 is 07:59:00, then the time point corresponding to the updated target road network data is 07:59:00.

[0180] In some embodiments, for each state change event, at the start time of the effective period of the first pass state of the target road network element, updating the pass state of the target road network element in the target road network data to the first pass state includes: sending the target state change event in the state change event set to the event execution module through the event dispatching module. Through the event execution module, for each target state change event, at the start time of the effective period of the pass state, updating the pass state of the target road network element in the target road network data to the first pass state.

[0181] The target state change event includes a state change event corresponding to an effective time period of a traffic state intersecting with a preset buffer period, and the preset buffer period falls within the preset time period.

[0182] Exemplarily, the preset buffer period can be set according to the target environment. For example, if the target environment is large and complex, the preset buffer period can be set to be larger.

[0183] Specifically, the preset buffer period can be set to 5 minutes, 10 minutes, 15 minutes or 20 minutes, etc.

[0184] In an embodiment of the present application, by setting a preset buffer period, the target state change event within the monitoring period is started at the start time of the preset buffer period, so that the target road network data is updated in real time according to the target state change event within the preset buffer period. In this way, the target road network data for the next period of time can be updated relatively in advance, so that when a new state change event caused by a temporary new rule appears, the target road network data can be updated with the latest state change event, thereby improving the real-time, accuracy and flexibility of the target road network data. For example, based on the current moment, the state change event within five minutes (if continuous monitoring, the end time of five minutes is monitored) is monitored and used as the target state change event, so as to change the road network data.

[0185] Exemplarily, the target state change event can be represented in the form of a collection, such as Fig.12 As shown, an embodiment of the present application provides a schematic diagram of a target state change event set, wherein t0 is the starting time of the expected passage period, and a is the preset buffer period.

[0186] Optionally, when the event dispatching module sends the target state change event in the state change event set to the event execution module, the event dispatching module sends the target state change event that has not been sent. In this way, the target state change event cannot be repeatedly sent to the event execution module, and in the event dispatching module, the target state change event that has been sent to the event execution module is removed, thereby improving processing efficiency.

[0187] Optionally, for each target state change event, at the start time of the effective period of the traffic state, the traffic state of the target road network element in the target road network data is updated to the first traffic state through the event execution module, including: sorting each target state change event from near to far according to the start time of the effective period of the traffic state through the event execution module. The traffic states of the sorted target road network elements are updated to the first traffic state in sequence. In this way, program concurrency is avoided, and the traffic states of the road network elements corresponding to the events with earlier start times in the target state change events are updated to the road network data first.

[0188] In the embodiment of the present application, by executing steps S701-S702, state change events within a preset time period are first obtained in a centralized manner. The state change events clearly identify the target road network elements whose traffic status needs to be changed, the changed traffic status, and the effective time period of the changed traffic status, so as to facilitate the subsequent real-time and dynamic updating of the target road network data according to the state change events, thereby planning an accurate navigation path.

[0189] In another embodiment, the method further includes: S703 - S704.

[0190] S703, for each state change event, the road network data management device sets the effective period of the first traffic state of the target road network element at the starting time of the effective period of the first traffic state of the target road network element;

[0191] S704, when there is a blank period between the effective time periods of two adjacent traffic states for the target road network element, the road network data management device sets the traffic state corresponding to the blank period as the preset traffic state.

[0192] Exemplarily, the preset traffic state may be a trafficable state.

[0193] For example, channel 1 is open from 12:00:00 to 18:00:00 and closed from 19:00:00 to 24:00:00, which means there is a blank period (18:00:00 to 19:00:00). For the blank period, it is passable by default. In other words, if there is no state change event between two adjacent effective periods (that is, there is a blank period), the first passable state of all road network elements in the blank period is the passable state.

[0194] In the embodiment of the present application, by executing steps S703-S704, the traffic status and effective time period of the road network element are determined according to the management rules, that is, the state change event is determined according to the management rules. Therefore, it is very likely that the effective time period of different traffic status of a certain road network element cannot be covered all day. In this way, during the period without state change events, it indicates that there are no events that affect the change of the traffic status of the road network element during the period. Therefore, the default setting of the first traffic status of the target road network element (set to a passable state) simplifies the complexity of updating the target road network data and improves the efficiency of updating the road network data.

[0195] In some embodiments, the start time of the expected traffic period is aligned with the start time of the effective period of the traffic state of the target state change event. At this time, for each target state change event, at the start time of the effective period of the first traffic state of the target road network element, the traffic state of the target road network element in the target road network data is updated to the first traffic state. In this way, the target state change event and the target road network data are in a corresponding relationship.

[0196] like Fig.13 As shown, an embodiment of the present application provides a schematic diagram of target road network data corresponding to a target state change event, wherein the target state change event includes event 1 and event 2.

[0197] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed in this article, and the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical goals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0198] In an exemplary embodiment, the present application also provides a path planning device. Fig.14 Schematic diagram of a path planning device 200 provided in an embodiment of the present application. Fig.14 As shown, the path planning device 200 includes: a first acquisition module 1401 , a second acquisition module 1402 and a determination module 1403 .

[0199] The first acquisition module 1401 is used to acquire a path planning task, where the path planning task includes a starting point, an end point, and an estimated travel period within a target environment.

[0200] The second acquisition module 1402 is used to acquire the latest target road network data relative to the expected traffic period according to the expected traffic period. The target road network data is used to describe the traffic status of the road network elements in the target environment. The road network elements include indoor passages and outdoor passages. The traffic status of the road network elements is determined according to the management rules set for the road network related elements in the target environment. The road network related elements include at least one of a place, an exit, and an entrance. The management rules are used to characterize the influence of the road network related elements on the traffic status of the road network elements.

[0201] The determination module 1403 is used to determine the target path according to the starting point, the end point and the target road network data.

[0202] The present application provides a computer program product. When the computer program product is executed in an electronic device, the electronic device executes the above method to implement the above method.

[0203] The present application provides a readable storage medium, which includes software instructions. When the software instructions are executed in an electronic device, the electronic device implements the above method.

[0204] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer-executable instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that can be integrated with one or more media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid state disk (SSD), etc.

[0205] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0206] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0207] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A path planning method, characterized in that: The method comprises: Acquire a path planning task, wherein the path planning task includes a starting point, an end point, and an estimated travel time period within a target environment; According to the expected traffic period, the latest target road network data relative to the expected traffic period is obtained; the target road network data is used to describe the traffic status of road network elements in the target environment; the road network elements include indoor passages and outdoor passages; the traffic status of the road network elements is determined according to the management rules set for the road network related elements in the target environment; the road network related elements include at least one of a place, an exit, and an entrance; the management rules are used to characterize the influence of the road network related elements on the traffic status of the road network elements; A target path is determined according to the starting point, the end point and the target road network data.

2. The method according to claim 1, characterized in that: The method further comprises: Acquire a state change event set within a preset time period, wherein the state change events in the state change event set are used to describe the effective time period of a first traffic state of at least one target road network element in the target environment; the target road network element is a road network element whose traffic state has changed, and the first traffic state is the traffic state of the target road network element after the change; and the effective time period of the first traffic state is within the preset time period; For each of the state change events, at the start time of the effective period of the first traffic state of the target road network element, the traffic state of the target road network element in the target road network data is updated to the first traffic state.

3. The method according to claim 2, characterized in that The method further comprises: For each state change event, at the start time of the effective period of the first traffic state of the target road network element, setting the effective period of the first traffic state of the target road network element; In the case where there is a blank period between the effective time periods of two adjacent traffic states of the target road network element, the traffic state corresponding to the blank period is set as a preset traffic state.

4. The method according to claim 2, characterized in that: The acquiring of a set of state change events within a preset period includes: According to the preset time period, obtaining at least one target road rule corresponding to the target road network element from a road rule set, wherein the target road rule is used to indicate the traffic state of the target road network element and the effective time period of the traffic state, and the effective time period of the traffic state is within the preset time period; the road rule set is determined according to the management rules corresponding to the road network related elements; The state change event is generated according to the target road rule corresponding to at least one of the target road network elements to obtain the state change event set.

5. The method according to claim 4, characterized in that The generating the state change event according to the target road rule corresponding to at least one of the target road network elements includes: Taking the start time and the end time of the effective period of the traffic state in the target road rules corresponding to each target road network element as endpoints, and obtaining multiple time intervals according to each pair of adjacent endpoints; A state change event corresponding to each time interval is generated, wherein the state change event describes a traffic state of at least one target road network element within the time interval.

6. The method according to claim 5, characterized in that The generating of the state change event corresponding to each time interval includes: If the same target road network element corresponds to multiple target road rules, and the traffic states indicated by the multiple target road rules in the same time interval conflict, then according to the preset priorities corresponding to the multiple target road rules, based on the traffic state indicated by the target road rule with the highest preset priority, the state change event is generated; If the same target road network element corresponds to multiple target road rules, and there is no conflict in the traffic conditions within the same time interval indicated by the multiple target road rules, the traffic conditions within the same time interval indicated by the multiple target road rules are merged, and the state change event is generated based on the merged traffic conditions.

7. The method according to claim 2, characterized in that The method is applied to a navigation system, the navigation system comprising an event dispatching module and an event executing module, wherein for each state change event, at the start time of the effective period of the first traffic state of the target road network element, the traffic state of the target road network element in the target road network data is updated to the first traffic state, comprising: Sending a target state change event in the state change event set to the event execution module through the event dispatching module, wherein the target state change event includes a state change event corresponding to an effective period of the traffic state intersecting with a preset buffer period, and the preset buffer period is within the preset period; Through the event execution module, for each target state change event, at the start time of the effective period of the traffic state, the traffic state of the target road network element in the target road network data is updated to the first traffic state.

8. The method according to any one of claims 1 to 7, characterized in that: The acquiring, according to the estimated travel period, the latest target road network data relative to the estimated travel period comprises: From the target road network data, select the target road network data updated at the time point closest to the target time, the target time being the start time of the expected travel period; The target road network data updated at the time point closest to the target time is determined as the latest target road network data relative to the expected travel period.

9. A path planning device, characterized in that: The device comprises: a first acquisition module, a second acquisition module and a determination module; The first acquisition module is used to acquire a path planning task, wherein the path planning task includes a starting point, an end point, and an estimated travel period within a target environment; The second acquisition module is used to acquire the latest target road network data relative to the expected travel period according to the expected travel period; the target road network data is used to describe the travel status of the road network elements in the target environment; the road network elements include indoor passages and outdoor passages; the travel status of the road network elements is determined according to the management rules set for the road network related elements in the target environment; the road network related elements include at least one of a place, an exit, and an entrance; the management rules are used to characterize the influence of the road network related elements on the travel status of the road network elements; The determination module is used to determine the target path according to the starting point, the end point and the target road network data.

10. An electronic device, characterized in that: include: Processor and memory; The memory stores instructions executable by the processor; When the processor is configured to execute the instructions, the electronic device implements the method according to any one of claims 1 to 8.

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